#ifndef _ENCODER_H_
#define _ENCODER_H_

#include "main.h"  
#include "tim.h"

#define  One_turn 56540

typedef struct
{
	int ec_val;
	int32_t i_ec_val;
	
}
Ec_com_;



extern Ec_com_ EcR;
extern Ec_com_ EcL;

int R_Read_Encoder(TIM_HandleTypeDef *htim);
int L_Read_Encoder(TIM_HandleTypeDef *htim);
int32_t Pluse_trn_Get(float cm);


#endif
